2021
DOI: 10.1115/1.4049555
|View full text |Cite
|
Sign up to set email alerts
|

Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails

Abstract: The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of external disturbances. We present a hierarchical control scheme in which a high-level and real-time path planner, based on an event-based model predictive control (MPC), computes the optimal motion of the center of mass (COM) and tail trajectories. The MPC framework is developed for an innovative… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1
1

Citation Types

0
4
0

Year Published

2023
2023
2024
2024

Publication Types

Select...
3
3

Relationship

3
3

Authors

Journals

citations
Cited by 8 publications
(4 citation statements)
references
References 48 publications
0
4
0
Order By: Relevance
“…One downside to this approach is that it generally necessitates quasi-static locomotion due to the zero moment point (ZMP) criterion [27] placed on the center of pressure (COP). Furthermore, in the context of collaborative locomotion, a major pitfall is that this template model cannot accommodate torques caused by external forces induced about the COM [28], [29], which is important when planning for cooperative dynamic gaits of holonomically constrained multi-agent systems.…”
Section: B Related Work On Reduced-order Modelsmentioning
confidence: 99%
“…One downside to this approach is that it generally necessitates quasi-static locomotion due to the zero moment point (ZMP) criterion [27] placed on the center of pressure (COP). Furthermore, in the context of collaborative locomotion, a major pitfall is that this template model cannot accommodate torques caused by external forces induced about the COM [28], [29], which is important when planning for cooperative dynamic gaits of holonomically constrained multi-agent systems.…”
Section: B Related Work On Reduced-order Modelsmentioning
confidence: 99%
“…In contrast to full-order models of legged locomotion, template models present reduced-order representations of legged robots that significantly reduce the computational burden and complexity associated with trajectory optimization. Various template models, including LIP [41], SRB [43]- [45], and centroidal dynamics [42], have been successfully integrated with the MPC framework for the real-time planning of bipedal and quadrupedal robots [43]- [53], [55]. The main challenge with using template models is bridging the gap between reduced-and full-order models of locomotion arising from abstraction (e.g., ignoring the legs' dynamics in template models).…”
Section: B Related Workmentioning
confidence: 99%
“…Nonetheless, the model's simplicity has been of great interest over the years and has been used extensively in both simulation and experiments using various platforms [12]- [16]. It is also worth mentioning that this model is not amenable to adding moments induced about the center of mass (COM) by external forces [17], [18], which is important when dealing with holonomically constrained multi-agent systems.…”
Section: B Reduced-order Modelsmentioning
confidence: 99%